You may also check out my Google Scholar page.

Journal Articles

1. E. Kilic-Bebek, K. Nizamis, M. Vlutters, O. Bebek, Z.G. Karapars, R. Unal, D. Yilmaz, B. Ugurlu, "Transdisciplinarity as a Learning Challenge: Student Experiences and Outcomes in an Innovative Course on Wearable and Collaborative Robotics," Early access in: IEEE Transactions on Education, doi: 10.1109/TE.2022.3229201.
2. M. S. Qureshi and O. Bebek. “Sensorless position control of solenoid actuators for soft landing using super-twisting sliding mode control”. In: Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering (2022), p. 09544070221111617. doi: 10.1177/09544070221111617.
3. B. Kirisken, D. Mansouri, P. Sendur, and O. Bebek. “A Novel Driving Pattern to Actualize Haptic Effects in Mobile Devices”. In: IEEE Transactions on Consumer Electronics 67.2 (2021), pp. 176–185. doi: 10.1109/TCE.2021.3079855.
4. M. Kaya, E. Senel, and O. Bebek. “Gabor filter based localization of straight and curved needles in 2D ultrasound images”. In: Turkish Journal of Electrical Engineering & Computer Sciences 28.5 (Sept. 2020), pp. 2940–2955. doi: 10.3906/elk-1912-181. [Open Access]
5. M. Kaya, E. Şenel, A. Ahmad, and O. Bebek, “Visual Needle Tip Tracking in 2D US Guided Robotic Interventions”, Mechatronics, vol. 57, February 2019, pp. 129-139. 
6. Q. Guo, O. Bebek, M. C. Cavusoglu, C. Mastrangelo, and D. J. Young “Personal Inertial Navigation System Assisted by MEMS Ground Reaction Sensor Array and Interface ASIC for GPS-Denied Environment”. IEEE Journal of Solid State Circuits, vol. 53, no. 11, November 2018, pp. 3039-3049. Abstract
7. A. Ahmad and Ö. Bebek, “Özyeğin Biopsy Robot: System integration architecture and motion compensation of moving target”, Turkish Journal of Electrical Engineering & Computer Sciences, vol. 26, no. 03, pp. 1651-1661, June 2018.  [Open Access]
8. B. Balcı, M. C. Yıldırım, and Ö. Bebek, “Mars Gezgini Prototipi Merih-2”, Gazi Politeknik Dergisi, vol. 21, no. 4, pp. 875-885, December 2018. Full Article PDF 
9. A. Ahmad, S. O. Orhan, M. C. Yildirim, and O. Bebek, “Development and 3D Spatial Calibration of a Parallel Robot for Percutaneous Needle Procedures with 2D Ultrasound Guidance,” Journal of Medical Robotics Research, vol. 02 no. 04, 2017, pp. 17500076. Abstract
10. Towards Active Tracking of Beating Heart Motion in the Presence of Arrhythmia for Robotic Assisted Beating Heart Surgery, E. E. Tuna, J. H. Karimov, T. Liu, Ö. Bebek, K. Fukamachi, and M. C. Cavusoglu, PLoS ONE 9(7): e102877, July 21, 2014. [Full Article]
11. Design of a Parallel Robot for Needle Based Interventions on Small Animals, Ozkan Bebek, Myung J. Hwang, and M. Cenk Cavusoglu, In the IEEE/ASME Transactions on Mechatronics, vol. 18, no. 1, pp. 62-73, February 2013. Abstract
12. Heart Motion Prediction Based on Adaptive Estimation Algorithms for Robotic Assisted Beating Heart Surgery, E. Erdem Tuna, Timothy J. Franke, Ozkan Bebek, Akira Shiose, Kiyotaka Fukamachi, M. Cenk Cavusoglu, In the IEEE Transactions on Robotics, vol. 29, no. 1, pp. 261-276, February 2013. Abstract
13. Personal Navigation via High-Resolution-Gait-Corrected Inertial Measurement Units, Ozkan Bebek, Michael A. Suster, Srihari Rajgopal, Michael J. Fu, Xuemei Huang, M. Cenk Cavusoglu, Darrin J. Young, Mehran Mehregany, Antonie J. (Ton) van den Bogert, and Carlos H. Mastrangelo, In the IEEE Transactions on Instrumentation and Measurement, vol. 59, no. 11, pp. 3018-3027, November 2010. Abstract
14. Whisker-like Position Sensor for Measuring Physiological Motion, Ozkan Bebek and M. Cenk Cavusoglu, In the IEEE/ASME Transactions on Mechatronics, vol. 13, no. 5, pp. 538-547, October 2008.Abstract
15. Intelligent Control Algorithms for Robotic Assisted Beating Heart Surgery, Ozkan Bebek and M. Cenk Cavusoglu, In the IEEE Transactions on Robotics, vol. 23, no. 3, pp. 468-480, June 2007. Abstract

Book Chapter

1. Towards the Development of a Robotic System for Beating Heart Surgery, Ozkan Bebek and M. Cenk Cavusoglu, In Surgical Robotics – System Applications and Visions, Springer, December 2010, ISBN 9781441911254, pp. 525-556. About the book  

Conference Papers

1. A. Yagcı, M. S. Quresh, M. P. Kuntuz, and O. Bebek. “Design of a Solenoid Based PrototypeInjector for Evaluation of Electromagnetic Parameters”. In: 2019 19th International Symposium onElectromagnetic Fields in Mechatronics, Electrical and Electronic Engineering (ISEF). 2019, pp. 1–2. doi:10.1109/ISEF45929.2019.9096906.
2. N. Amirshirzad, E. Ugur, O. Bebek, and E. Oztop. “Adaptive Shared Control with Human Intention Estimation for Human Agent Collaboration*”. In: 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE). 2022, pp. 653–658. doi: 10.1109/CASE49997.2022.9926657.
3. M. Derman, A. F. Soliman, A. Kuru, S. C. Cevik, R. Unal, O. Bebek, and B. Ugurlu. “Simulation-based Design and Locomotion Control Implementation for a Lower Body Exoskeleton”. In: 2022 IEEE 5th International Conference on Industrial Cyber-Physical Systems (ICPS). 2022, pp.1–6. doi: 10.1109/ICPS51978.2022.9816855.
4. S. Emre, B. Akin, E. C. Ozcinar, B. Balci, P. Sendur, O. Bebek, R. Unal, and B. Ugurlu. “Topology Optimization-based Design and Development of a Compact Actuator with a High Torque-to-Weight Ratio for Quadrupeds”. In: ACTUATOR 2022; International Conference and Exhibition on New Actuator Systems and Applications. 2022, pp. 306–309. ISBN: 978-3-8007-5894-4.
5. A. Kuru, B. Ugurlu, and O. Bebek. “Design and Development of a Torsion-based Series Elastic Actuator with Nested Encoders for a Wearable Exoskeleton Robot”. In: ACTUATOR 2022; International Conference and Exhibition on New Actuator Systems and Applications. 2022, pp. 302–305. ISBN: 978-3-8007-5894-4.
6. N. Amirshirzad, B. Sunal, O. Bebek, and E. Oztop. “Learning Medical Suturing Primitives for Autonomous Suturing”. In: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE). 2021, pp. 256–261. doi:10.1109/CASE49439.2021.9551415.
7. S. C. Cevik, M. Derman, R. Unal, B. Ugurlu, and O. Bebek. “A Custom Brace Design to Connect a User Limb to an Exoskeleton Link with Minimal Discomfort”. In: 2021 IEEE 19th International Conference on Industrial Informatics (INDIN). 2021, pp. 1–6. doi: 10.1109/INDIN45523.2021.9557500.
8. D. Ugur and O. Bebek. “Fast and Efficient Terrain-Aware Motion Planning for Exploration Rovers”. In: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE). 2021, pp. 1561–1567. doi:10.1109/CASE49439.2021.9551617.
9. O. Ersoy, M. C. Yildirim, A. Ahmad, O. D. Yirmibesoglu, N. Koroglu, and O. Bebek. “Design and Kinematics of a 5-DOF Parallel Robot for Beating Heart Surgery”. In: 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). 2019, pp. 274–279. doi:10.1109/ICARM.2019.8833632.
10. B. Sunal, E. Oztop, and O. Bebek. “Adaptive Inverse Kinematics of a 9-DOF Surgical Robot for Effective Manipulation”. In: 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM). 2019, pp. 678–683. doi: 10.1109/ICARM.2019.8834157.
11. B. Ugurlu, M. Acer, D. E. Barkana, I. Gocek, A. Kucukyilmaz, Y. Z. Arslan, H. Basturk, E. Samur, E.Ugur, R. Unal, and O. Bebek. “A Soft+Rigid Hybrid Exoskeleton Concept in Scissors-Pendulum Mode: ASuit for Human State Sensing and an Exoskeleton for Assistance”. In: 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR). 2019, pp. 518–523. doi:10.1109/ICORR.2019.8779394.
12. Improving the Safety of Medical Robotic Systems, A. Dibekci and O. Bebek, The 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), August 26-29, 2018, Enschede, The Netherlands, pp. 73-78. Abstract
13. Sliding Mode Control of An Electromechanical Solenoid Actuator For Soft Landing, M. P. Kuntuz, M. S. Qureshi, and O. Bebek, The 23rd International Conference on Methods and Models in Automation and Robotics (MMAR), August 27-30, 2018, Miedzyzdroje, Poland. Abstract
14. Performance Evaluation Of Sliding-Mode Approaches For Tracking The Motion Of The Solenoid Actuators, M. S. Qureshi, M. P. Kuntuz, and O. Bebek, In proceedings of International Conference on Progresses In Automotive Technologies (ICPAT), May 10-12, 2018, Istanbul, Turkey, pp. 4–14. ISBN: 978-605-9546-11-9
15. Personal inertial navigation system employing MEMS wearable ground reaction sensor array and interface ASIC achieving a position accuracy of 5.5m over 3km walking distance without GPS, Qingbo Guo, William Deng, Ozkan Bebek, M. Cenk Cavusoglu, Carlos Mastrangelo, Darrin Young, Presented at the IEEE International Solid – State Circuits Conference (ISSCC), Feb 11-15, 2018, pp. 180-182 , San Francisco, CA, USA. Abstract
16. Electromagnetic and Dynamic Analysis of Solenoid Actuator to Reduce the Closing Time, A. Yagci, M.P. Kuntuz, and O. Bebek, Presented at the 9th Ankara International Aerospace Conference (AIAC), September 20-22, 2017, no: AIAC-2017-187, METU, Ankara, Turkey.
17. Visual Tracking of Multiple Moving Targets in 2D Ultrasound Guided Robotic Percutaneous Interventions, M. Kaya, E. Senel, A. Ahmad, and O. Bebek, Presented at the IEEE International Conference on Robotics and Automation (ICRA), May 29 – June 3, 2017, pp. 1996-2002, Singapore. Abstract
18. Development of an Antagonistically Actuated Smart Joint, Materials Science Forum. A. Vahidyeganeh, G. Simsek, S. Jabeen, O. Bebek, G.G. Yapici, Presented at the 5th International Conference on Manufacturing Engineering and Process (ICMEP, May 25-27, 2016, Istanbul, Turkey), 887:104-107, March 2017.
19. Visual Tracking of Biopsy Needles in 2D Ultrasound Images, M. Kaya, E. Senel, A. Ahmad, and O. Bebek, Presented at the IEEE International Conference on Robotics and Automation (ICRA), May 31 – June 7, 2016, pp. 4386-4391, Stockholm, Sweden. Abstract
20. Discrete-Time Integral Sliding Mode Control of a Smart Joint for Minimally Invasive Surgeries, S. Jabeen, A. Vahidyeganeh, G. Simsek, G. Yapici, K. Abidi, O. Bebek, Presented at the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), June 26-29, 2016, pp. 389–394, UTown, Singapore. Abstract 
21. Design and modeling of a parallel robot for ultrasound guided percutaneous needle interventions, S. O. Orhan; M. C. Yildirim; O. Bebek, In proceedings of 41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015), Yokohama, Japan, November 9-12, 2015, pp. 5002-5007. Abstract 
22. Environmental Force Estimation for a Robotic Hand: Compliant Contact Detection, O. Kaya, M. C. Yildirim, N. Kuzuluk, E. Cicek, E. Oztop, O. Bebek, B. Ugurlu, 2015 IEEE-RAS 15th International Conference on Humanoid Robots, November 3-5, 2015, Seoul Korea, pp. 791–796. Abstract 
23. Calibration of 2D Ultrasound in 3D Space for Robotic Biopsies, A. Ahmad, M. C. Cavusoglu, and O. Bebek, In Proceedings of the 17th International Conference on Advanced Robotics (ICAR), pp. 40-46, July 27-31, 2015, Istanbul, Turkey. Abstract
24. Real-time Needle Tip Localization in 2D Ultrasound Images for Robotic Biopsies, M. Kaya, E. Senel, A. Ahmad, O. Orhan, and O. Bebek, In Proceedings of the 17th International Conference on Advanced Robotics (ICAR), pp. 47-52, July 27-31, 2015, Istanbul, Turkey. Abstract
25. A Personal Navigation System Using MEMS-Based High-Density Ground Reaction Sensor Array and Inertial Measurement Unit, Q. Guo, O. Bebek, M. C. Cavusoglu, C. Mastrangelo, and D. J. Young, In Proceedings of the 18th International Conference on Transducers, pp. 1077-1080, June 21-25, 2015, Anchorage, Alaska. Abstract
26. Gabor Filter Based Localization of Needles in Ultrasound Guided Robotic Interventions, Mert Kaya and Ozkan Bebek, In Proceedings of 2014 IEEE International Conference on Imaging Systems and Techniques, October 14-17, 2014, Santorini, Greece, pp. 112-117. Abstract 
27. An active brace for controlled transdermal drug delivery for adjustable physical therapy, U. Levent Erol, Ozkan Bebek*, Ayse Karagoz, and Bahar Basim, In Proceedings of the 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Chicago, IL, USA, August 26-30, 2014, pp. 2149-2152. Abstract
28. Development of 3-D Chemical Mechanical Polishing Process for Nanostructuring of Bioimplant Surfaces, Z. Ozdemir, O. Orhan, O. Bebek, and B. Başım, 225th ECS Meeting, May 11-­16, 2014, Orlando, FL. Abstract
29. Needle Localization Using Gabor Filtering in 2D Ultrasound Images, Mert Kaya and Ozkan Bebek, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 31 – June 7, 2014, Hong Kong, China, pp. 4881–4886.
30. Personal Navigation via Shoe Mounted Inertial Measurement Units, O. Bebek, M. A. Suster, S. Rajgopal, M. J. Fu, X. Huang, M. C. Cavusoglu, D. J. Young, M. Mehregany, A. J. van den Bogert, and C. H. Mastrangelo, In proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, pp. 1052-1058, October 18-22, 2010. Abstract
31. Kinematic Calibration of a Parallel Robot for Small Animal Biopsies, Myun Joong Hwang, Ozkan Bebek, Fan Liang, Baowei Fei and M. Cenk Cavusoglu, In proceedings of the IEEE/RSJ 2009 International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, USA, pp. 4104-4109, October 11-15, 2009. Abstract
32. Design of a Small Animal Biopsy Robot, Ozkan Bebek, Myun Joong Hwang, Baowei Fei and M. Cenk Cavusoglu, In Proceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Vancouver, BC, Canada, pp. 5601-5604, August 20-25, 2008. Abstract
33. Prediction of Heartbeat Motion with a Generalized Adaptive Filter, Timothy J. Franke, Ozkan Bebek and M. Cenk Cavusoglu, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, USA, pp. 2916-2921, May 19-23, 2008.
34. Improved Prediction of Heart Motion Using an Adaptive Filter for Robot Assisted Beating Heart Surgery, Timothy J. Franke, Ozkan Bebek and M. Cenk Cavusoglu, In Proceedings of the IEEE/RSJ 2007 International Conference on Intelligent Robots and Systems (IROS), San Diego, CA, USA, pp. 509-515, October 29 – November 2, 2007. Abstract
35. Whisker Sensor Design for Three Dimensional Position Measurement in Robotic Assisted Beating Heart Surgery, Ozkan Bebek, M. Cenk Cavusoglu, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, pp. 225-231, April 10-14, 2007. Abstract 
36. Model Based Control Algorithms for Robotic Assisted Beating Heart Surgery, Ozkan Bebek, M. Cenk Cavusoglu, In Proceedings of the 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), New York, New York, USA, pp. 823-828, 30 August – 3 September, 2006. Abstract
37. Predictive Control Algorithms Using Biological Signals for Active Relative Motion Canceling in Robotic Assisted Heart Surgery, Ozkan Bebek, M. Cenk Cavusoglu, In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, USA, pp. 237-244, May 15-19, 2006. Abstract 
38. A Gait Adaptation Scheme for Biped Walking Robots, Ozkan Bebek, Kemalettin Erbatur, In Proceedings of the 8th IEEE International Workshop on Advanced Motion Control (AMC), Kawasaki, Japan, pp. 409-414, March 25-28, 2004. Abstract
39. Adaptive Fuzzy System for Tuning Biped Robot Gate Parameters, Ozkan Bebek, Kemalettin Erbatur, FIRA Robot World Congress 2003, Vienna, Austria, pp. 240-246, October 1-3, 2003.
40. A Fuzzy System for Gait Adaptation of Biped Walking Robots, Ozkan Bebek, Kemalettin Erbatur, In Proceedings of IEEE Conference on Control Applications (CCA), Istanbul, Turkey, Vol. 1, pp. 669-673, June 23-25, 2003. Abstract

Turkish Conference Papers

1. Tepki Kuvveti Gözleyici Bazlı Kuvvet Kontrolünün Yüksek Ataletli Robot Eklemlerinde Deneysel Olarak Sınanması. M.C. Yıldırım, O. Ersoy, Ö. Bebek, B. Uğurlu, In Proc. of Otomatik Kontrol Ulusal Toplantısı (TOK), Yildiz Teknik Üniversitesi, Davutpaşa Yerleşkesi, Istanbul, 21-23 Eylül 2017, pp. 342–346.
2. Seri Elastik Eyleyiciler için Gürbüz Bir Tork Kontrolcüsü: Model Öngörümlü Kontrol ile Bozunum Gözleyici (A Robust Torque Controller for Series Elastic Actuators: Model Predictive Control with a Disturbance Observer), T. K. Tasooij, Ö. Bebek, B. Uğurlu, In Proc. of Otomatik Kontrol Ulusal Toplantısı (TOK), Yildiz Teknik Üniversitesi, Davutpaşa Yerleşkesi, Istanbul, 21-23 Eylül 2017, pp. 398–402.
3. Bir Mars Gezgininin Mekanik Tasarımı, G. S. Aydoğdu, A. Yaşar, E. K. Çiçek, C. Evyapan, B. Özgür, A. Yıldırım, M. C. Yıldırım, O. Bebek, Presented at the Türkiye Robotbilim Konferansı (TORK), Pendik, İstanbul, November 2-3, 2016.
4. Bir Mars Gezgininin Denetimi için Elektronik Tasarım, B. Balcı, O. Dalgıç, D. Kurt, A. Kılıç, B. Sunal, M.C. Yıldırım, O. Bebek, Presented at the Türkiye Robotbilim Konferansı (TORK), Pendik, İstanbul, November 2-3, 2016.
5. Özyeğin Biopsy Robot: System Integration, Active Relative Motion Compensation”, A. Ahmad and O. Bebek, Presented at the Türkiye Robotbilim Konferansı (TORK), Pendik, İstanbul, November 2-3, 2016.
6. Visual Tracking of Targets in 2D Ultrasound Assisted Robotic Biopsies, A. Ahmad, M. Kaya, and O. Bebek, Presented at the Türkiye Robotbilim Konferansı (TORK), Pendik, İstanbul, November 2-3, 2016.
7. Optik Takip Sistemlerinde Kamera Konumlarının Hassasiyet ile İlişkisinin Araştırılması”, O. D. Yirmibeşoğlu and Ö. Bebek, Presented at the Türkiye Otonom Robotlar Konferansı (ToRK), Submission 40, Ankara, November 6-7, 2014.
8. İnsan Üstünde İğneli Müdahaleler için Paralel Robot Dizaynı, S.O. Orhan, M. C. Çavuşoğlu, and Ö. Bebek, Presented at the Türkiye Otonom Robotlar Konferansı (TORK), Submission 48, Ankara, November 6-7, 2014.
9. İki Bacaklı Yürüyen Robotlarda Bulanık Mantıklı Yürüyüş Biçimi Uyarlaması, Özkan Bebek, Kemalettin Erbatur, Okan Kurt, In Proceedings of Otomatik Kontrol Ulusal Toplantısı (TOK), İstanbul, Turkey, pp. 231-236, June 2-3, 2005.
10. Zamanlama Kayışlı Servo Sisteminin Değişken Yapılı Sistem Denetimi (VSS Control of Timing-Belt Servosystem), Özkan Bebek, Murat Günay, Asıf Şabanoviç, Gökhan Göktuğ, In Proceedings of National Conference on Electrical and Electronics Engineering (ELECO) , Bursa, Turkey, pp. 202-206, December 18-22, 2002.

Research Posters and Technical Report

1. Robotic System for Small Animal Biopsy, Myun J. Hwang, Ozkan Bebek, Fan Liang, Baowei Fei, and M. Cenk Cavusoglu, Research ShowCASE 2009, Case Western Reserve University, April 16, 2009. 
2. Prediction of Heartbeat Motion with a Generalized Adaptive Filter, Timothy J. Franke, Ozkan Bebek, and M. Cenk Cavusoglu, Research ShowCASE 2008, Case Western Reserve University, April 16-17, 2008. 
3. Whisker Sensor Design for Position Measurement in Robotic-Assisted Surgery, Ozkan Bebek, M. Cenk Cavusoglu, Research ShowCASE 2007, Case Western Reserve University, April 11-12, 2007. 
4. Intelligent Control Algorithms for Robotic Assisted Beating Heart Surgery, Ozkan Bebek, M. Cenk Cavusoglu, Research ShowCASE 2006, Case Western Reserve University, April 5-6, 2006. 
5. Predictive Tracking for Active Relative Motion Cancellation in Robotic Assisted CABG Surgery, Jason D. Rotella, Ozkan Bebek, M. Cenk Cavusoglu, Research ShowCASE 2005, Case Western Reserve University, April 6-7, 2005.(Award: Outstanding Graduate Student Research Poster) 
6. Kinematics and Dynamics of Small Animal Biopsy Robot (SABiR), Myun J. Hwang, Ozkan Bebek, and M. Cenk Cavusoglu. Technical Report, Case Western Reserve University, September 15, 2009. 

Theses

1. Robotic-Assisted Beating Heart Surgery, Özkan Bebek, Dissertation Advisor: M. Cenk Çavuşoğlu, Ph.D. Dissertation, Case Western Reserve University, May 18, 2008 (Defense: January 23, 2008).   
2. A Study on Automatic Gait Parameter Tuning for Biped Walking Robots, Özkan Bebek, Thesis Advisor: Kemalettin Erbatur, Thesis Co-advisor: Asif Sabanovic, M.S. Thesis. Sabanci University, Istanbul, July 19, 2003 (Defense: June 27, 2003).